MEASURING METHOD FOR DELAY TIME BETWEEN ROBOT MOTION AND WELDING CURRENT FOR ARC SENSING

摘要

PURPOSE: A measuring method for delay time between robot motion and welding current for arc sensing is provided to minimize measurement error and to cope with noise generating at welding. CONSTITUTION: A weaving index deciphers whether it is 0 or not. An initial reference point after starting weaving is set. When weaving welding starts at weaving index 0 of a start point, It is identified whether the next weaving index is even number or not. The weaving welding is continued until for the weaving index is even number. DAQ (Data Acquisition) of the welding current begins for even weaving index. A noise of the welding current is filtered on the DAQ. The inflection change point of the welding current is calculated in the secondary curve (c). The time difference between inflection points is calculated to obtain a time delay(a,b).